Development of a control system for a heavy object handling manipulator (application to a remote maintenance system for ITER blanket module)

摘要

A new control system for the heavy object handling manipulator has been developed for the ITER (International Thermonuclear Fusion Experimental Reactor) blanket remote maintenance system. This control system is based on the task models generated from teaching points for positioning the manipulator with and without grasping the blanket, and the manipulator can perform the blanket installation and removal smoothly by transferring its deadweight at the setting/removing point.